Once I got used to babywearing (and found the right carrier for us), chores while babywearing were simple. The baby should be high up enough on the chest that it doesn't add bulk at counter level (baby's head should be kissable for you by just tucking your chin). A nice tight wrap is very secure, and baby will not fall out. I didn't cook over a hot pan/oven, or do something really bendy like weeding while wearing, but would chop/prep food, vacuum, sweep, do laundry, grocery shop, etc. It was a game-changer when I learned to do back carries with a BabyHawk or my woven wrap. Baby high up on the back made me free to cook, and do whatever else (pick berries, weed the garden, etc).
Well, you're more skilled than me, I guess. LOL. I WAS wearing him high up in a tightly-wrapped wrap. He still got in the way of the sink. Maybe I'm just short and/or he was long?
In the end, we kept the babywearing for outings mostly. (Not that he wasn't almost always with me besides, but he was on my lap for nursing and naps and such at home.)